| 摘要 |
The wheelchair of the present invention comprises propulsion means for at least two drive wheels 1, a wheelchair user movement indicator means 2 that comprises means to indicate a forward, a backward and a rotation movement, at least one sensor system to detect at least one value referring to a surrounding free space, and a controller that comprises means to obtain a linear and a rotation movement component value, ± js , ² js , from the data produced by the movement indicator means, and means to obtain the surrounding free space in a linear and in a rotation component, ± s , ² s , from the at least one value detected by the, at least one, sensor 3, 4, 5. The total linear and rotational movement, ± T , ² T , applied to the propulsion means are calculated as a combination of the linear and rotation movement component value, ± js , ² js , obtained from the movement indicator means and the, at least one, value of the surrounding free space in a linear and rotation component, ± s , ² s .
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